Added all PID controllers to cli_getpid.c

groundStation/src/cli/cli_getpid.c

@@ -16,10 +16,10 @@ int cli_getpid(struct backend_conn * conn,	int argc, char **argv) {
  		{"roll",	no_argument,	&getRoll,	1},
  		{"pitch",   no_argument,   	&getPitch, 	1},
  		{"yaw",   no_argument,   	&getYaw, 	1},
- 		{"rollv",   no_argument,   	&getYawV, 	1},
- 		{"pitchv",   no_argument,   	&getYawV, 	1},
+ 		{"rollv",   no_argument,   	&getRollV, 	1},
+ 		{"pitchv",   no_argument,   &getPitchV, 1},
  		{"yawv",   no_argument,   	&getYawV, 	1},
- 		{"height",   no_argument,   	&getHeight,	1},
+ 		{"height",   no_argument,   &getHeight,	1},
  		{"lat",   no_argument,   	&getLat, 	1},
  		{"long",   no_argument,   	&getLong, 	1},
  		{"help",	no_argument,	&needHelp,	1},
@@ -64,17 +64,11 @@ int cli_getpid(struct backend_conn * conn,	int argc, char **argv) {
 	
 	int result;
 	if(getAll) {
-		pid_data.controller = PID_ROLL;
-		if ((result = getValues(conn, &pid_data))) {
-			return result;
-		}
-		pid_data.controller = PID_PITCH;
-		if ((result = getValues(conn, &pid_data))) {
-			return result;
-		}
-		pid_data.controller = PID_YAW;
-		if ((result = getValues(conn, &pid_data))) {
-			return result;
+		for(int i = 0; i < PID_NUM_PIDS; ++i) {
+			pid_data.controller = i;
+			if ((result = getValues(conn, &pid_data))) {
+				return result;
+			}
 		}
 	} else {
 		if(getPitch) {
@@ -95,6 +89,43 @@ int cli_getpid(struct backend_conn * conn,	int argc, char **argv) {
 				return result;
 			}
 		}
+		if(getPitchV) {
+			pid_data.controller = PID_PITCH_RATE;
+			if ((result = getValues(conn, &pid_data))) {
+				return result;
+			}
+		}
+		if(getRollV) {
+			pid_data.controller = PID_ROLL_RATE;
+			if ((result = getValues(conn, &pid_data))) {
+				return result;
+			}
+		}
+		if(getYawV) {
+			pid_data.controller = PID_YAW_RATE;
+			if ((result = getValues(conn, &pid_data))) {
+				return result;
+			}
+		}
+		if(getHeight) {
+			pid_data.controller = PID_HEIGHT;
+			if ((result = getValues(conn, &pid_data))) {
+				return result;
+			}
+		}
+		if(getLat) {
+			pid_data.controller = PID_LAT;
+			if ((result = getValues(conn, &pid_data))) {
+				return result;
+			}
+		}
+		if(getLong) {
+			pid_data.controller = PID_LONG;
+			if ((result = getValues(conn, &pid_data))) {
+				return result;
+			}
+		}
+
 	}
 
 	return 0;
@@ -105,8 +136,6 @@ int getValues(struct backend_conn * conn, struct frontend_pid_data * pid_data) {
 		return 1;
 	}
 
-	return 0;
-
 	switch(pid_data->controller) {
 		case PID_PITCH :
 			printf("Pitch Constants: P = %f\tI = %f\tD = %f\n",
@@ -120,6 +149,30 @@ int getValues(struct backend_conn * conn, struct frontend_pid_data * pid_data) {
 			printf("Yaw Constants: P = %f\tI = %f\tD = %f\n",
 				pid_data->p, pid_data->i, pid_data->d);
 			break;
+		case PID_PITCH_RATE :
+			printf("Pitch Rate Constants: P = %f\tI = %f\tD = %f\n",
+				pid_data->p, pid_data->i, pid_data->d);
+			break;
+		case PID_ROLL_RATE :
+			printf("Roll Rate Constants: P = %f\tI = %f\tD = %f\n",
+				pid_data->p, pid_data->i, pid_data->d);
+			break;
+		case PID_YAW_RATE :
+			printf("Yaw Rate Constants: P = %f\tI = %f\tD = %f\n",
+				pid_data->p, pid_data->i, pid_data->d);
+			break;
+		case PID_HEIGHT :
+			printf("Height Constants: P = %f\tI = %f\tD = %f\n",
+				pid_data->p, pid_data->i, pid_data->d);
+			break;
+		case PID_LAT :
+			printf("Latitude Constants: P = %f\tI = %f\tD = %f\n",
+				pid_data->p, pid_data->i, pid_data->d);
+			break;
+		case PID_LONG :
+			printf("Longitude Constants: P = %f\tI = %f\tD = %f\n",
+				pid_data->p, pid_data->i, pid_data->d);
+			break;
 		default :
 			break;
 	}

groundStation/src/frontend/pid_common.h

@@ -22,5 +22,4 @@ struct frontend_pid_data {
 	float d;
 };
 
-
-#endif
+#endif
\ No newline at end of file